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Code Issues Releases Activity

Add support for Gyro bias calibration upon arming configuration in the CC Attitude config gadget.

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This commit is contained in:
elafargue 2011-05-08 09:33:54 +02:00
parent f59e7f3410
commit 2b11fa6ee6
2 changed files with 37 additions and 3 deletions
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27
ground/openpilotgcs/src/plugins/config/ccattitude.ui
View File

@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>400</width>
<height>307</height>
<height>343</height>
</rect>
</property>
<property name="windowTitle">
@ -142,6 +142,18 @@
</widget>
</widget>
</item>
<item>
<widget class="QCheckBox" name="zeroGyroBiasOnArming">
<property name="toolTip">
<string>If enabled, a fast recalibration of gyro zero point will be done
whenever the frame is armed. Do not move the airframe while
arming it in that case!</string>
</property>
<property name="text">
<string>Zero gyro bias upon airframe arming</string>
</property>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox">
<property name="sizePolicy">
@ -241,6 +253,19 @@
</widget>
</widget>
</item>
<item>
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>

13
ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
View File

@ -53,7 +53,6 @@ ConfigCCAttitudeWidget::~ConfigCCAttitudeWidget()
void ConfigCCAttitudeWidget::attitudeRawUpdated(UAVObject * obj) {
QMutexLocker locker(&startStop);
UAVDataObject * attitudeRaw = dynamic_cast<UAVDataObject*>(obj);
ui->zeroBiasProgress->setValue((float) updates / NUM_ACCEL_UPDATES * 100);
@ -87,7 +86,6 @@ void ConfigCCAttitudeWidget::attitudeRawUpdated(UAVObject * obj) {
void ConfigCCAttitudeWidget::timeout() {
QMutexLocker locker(&startStop);
UAVObjectManager * objMngr = getObjectManager();
UAVDataObject * obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AttitudeRaw")));
disconnect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(attitudeRawUpdated(UAVObject*)));
disconnect(&timer,SIGNAL(timeout()),this,SLOT(timeout()));
@ -108,6 +106,11 @@ void ConfigCCAttitudeWidget::applyAttitudeSettings() {
field->setValue(ui->pitchBias->value(),1);
field->setValue(ui->yawBias->value(),2);
field = settings->getField("ZeroDuringArming");
// Handling of boolean values is done through enums on
// uavobjects...
field->setValue((ui->zeroGyroBiasOnArming->isChecked()) ? "TRUE": "FALSE");
settings->updated();
}
@ -118,6 +121,12 @@ void ConfigCCAttitudeWidget::getCurrentAttitudeSettings() {
ui->rollBias->setValue(field->getDouble(0));
ui->pitchBias->setValue(field->getDouble(1));
ui->yawBias->setValue(field->getDouble(2));
field = settings->getField("ZeroDuringArming");
// Handling of boolean values is done through enums on
// uavobjects...
bool enabled = (field->getValue().toString() == "FALSE") ? false : true;
ui->zeroGyroBiasOnArming->setChecked(enabled);
}
void ConfigCCAttitudeWidget::startAccelCalibration() {